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WO2020062080A1 - 一种激光测距装置及移动设备 - Google Patents

一种激光测距装置及移动设备 Download PDF

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Publication number
WO2020062080A1
WO2020062080A1 PCT/CN2018/108451 CN2018108451W WO2020062080A1 WO 2020062080 A1 WO2020062080 A1 WO 2020062080A1 CN 2018108451 W CN2018108451 W CN 2018108451W WO 2020062080 A1 WO2020062080 A1 WO 2020062080A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
laser ranging
ranging device
laser
optical
Prior art date
Application number
PCT/CN2018/108451
Other languages
English (en)
French (fr)
Inventor
刘祥
黄淮
洪小平
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880010939.2A priority Critical patent/CN111837054A/zh
Priority to PCT/CN2018/108451 priority patent/WO2020062080A1/zh
Publication of WO2020062080A1 publication Critical patent/WO2020062080A1/zh
Priority to US17/214,777 priority patent/US20210239801A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present invention relates generally to the field of optical detection, and more particularly to a laser ranging device and a mobile device.
  • the distance detection device plays a very important role in many fields, for example, it can be used on a mobile carrier or a non-mobile carrier for remote sensing, obstacle avoidance, mapping, modeling, and environmental perception.
  • mobile carriers such as robots, artificially controlled aircraft, unmanned aircraft, cars, and ships, can navigate in a complex environment through distance detection devices to implement path planning, obstacle detection, and avoiding obstacles.
  • the miniaturization of distance detection devices has always been an issue worthy of discussion and research.
  • the compact laser ranging module can be more conveniently used for UAV height determination and obstacle avoidance.
  • the compact laser ranging module is often restricted by its measurement distance and measurement range and cannot be used in many applications.
  • an aspect of the present invention provides a laser ranging device, the laser ranging device includes:
  • a transmitting module for transmitting a laser pulse sequence to detect an object to be measured
  • An optical module including a collimating lens and a condensing lens, the collimating lens is located on a transmitting light path of the transmitting module, and is configured to collimate a laser pulse sequence emitted by the transmitting module from the laser ranging device,
  • the condensing lens is used for condensing at least a part of the reflected light reflected by the object to be measured;
  • a detection module configured to receive the light beam converged by the converging lens and convert it into an electric signal; and determine a distance between the object to be measured and the laser distance measuring device according to the electric signal;
  • the collimating lens and the condensing lens are fixed together, driven by the same driving system and moved simultaneously.
  • the collimating lens and the condensing lens are the same lens;
  • the laser ranging device further includes an optical path changing element, which is located on a side of the optical module near the transmitting module, and is configured to combine the transmitting optical path of the transmitting module with the receiving optical path of the detection module.
  • the driving system is configured to drive the optical module in a plane perpendicular to the optical axis to change a detection direction of the laser ranging device.
  • a target detection direction is determined, and a moving distance of the optical module in a plane perpendicular to the optical axis is controlled according to the target detection direction.
  • the driving system is configured to drive the optical module to reciprocate in the direction of the optical axis to change a field of view FOV of the laser ranging device.
  • a target FOV is determined, and a moving distance of the optical module in an optical axis direction is controlled according to the target FOV.
  • the driving system drives the optical module to reciprocate in the direction of the optical axis to change the divergence angle of the laser pulse sequence, and the FOV of the laser ranging device is determined by the divergence angle .
  • the laser ranging device further includes a moving module, and the driving system drives the moving module to move the optical module in a plane perpendicular to the optical axis and / or along the optical axis mobile.
  • the laser ranging device further includes a first moving module, and the driving system drives the first moving module to move to drive the optical module to move in a plane perpendicular to the optical axis.
  • the laser distance measuring device further includes a second moving module, and the driving system drives the second moving module to move to drive the optical module to reciprocate along the optical axis.
  • the distance measuring device further includes a filter, and the filter is configured to filter the return light before reaching the condensing lens to filter at least a part of light in a non-working range wavelength.
  • the driving system includes an electromagnetic driver, a voice coil driver, or a piezoelectric ceramic driver.
  • the driving system includes an electromagnetic driver including an electromagnet and a magnetic component, wherein the electromagnet is disposed on a base where the transmitting module is located, and the magnetic component is disposed on the optical module.
  • An alternating current is applied to the electromagnet on the mobile module to make the mobile module vibrate.
  • the magnetic component includes a permanent magnet disposed on the moving module.
  • an elastic body is further provided between the mobile module and the base, and the driving frequency of the electromagnet is set around the natural frequency of the elastic body to generate resonance.
  • the ranging device further includes a base, and the transmitting module and the receiving module are disposed on the base.
  • the detection module includes:
  • a receiving module configured to convert the received back light reflected by the object to be measured into an electric signal output
  • a sampling module configured to sample the electrical signal output by the receiving module to measure a time difference between transmission and reception of the laser pulse sequence
  • An operation module is configured to receive the time difference output by the sampling module and calculate and obtain a distance measurement result.
  • the receiving module includes a photoelectric conversion device for converting the detected laser pulse sequence into an electrical signal.
  • the receiving module includes a signal processing circuit, and the signal processing circuit is configured to amplify and / or filter the received electric signal output by the photoelectric conversion device.
  • the sampling module includes a signal comparator and a time measurement module, and the electrical signal output by the receiving module enters the time measurement module after passing through the signal comparator, and the time measurement module is configured to measure the laser The time difference between the transmission of a pulse sequence and its reception.
  • the time measurement module includes a time-to-digital converter.
  • the time measurement module includes a circuit structure that implements time measurement using an FPGA internal delay chain, a circuit structure that implements time measurement using a high-frequency clock, or a circuit structure that implements time measurement in a counting manner.
  • the transmitting module includes:
  • a driver for driving the switching device is A driver for driving the switching device.
  • Another aspect of the present invention provides a mobile device, the mobile device including a focusable imaging system and the aforementioned laser ranging device;
  • the imaging system is configured to determine position information of the target object relative to the imaging system according to the position of the target object in the screen;
  • the laser ranging device is configured to adjust a detection direction of the laser ranging device according to the azimuth information, and measure distance information between the target object and the laser ranging device;
  • the imaging system is further configured to perform focusing according to the distance information acquired by the laser ranging device.
  • the ranging device further includes a control module, the control module receives the orientation information, and controls the driving system to drive the optical module to a predetermined position according to the orientation information.
  • the distance measuring device further includes a position feedback system, which is configured to feed back position information of the moved optical module to the control module.
  • the position feedback system includes at least one displacement sensor.
  • the displacement sensor includes a Hall sensor, a grating sensor, or a laser sensor.
  • the laser ranging device includes:
  • a transmitting module for transmitting a laser pulse sequence to detect an object to be measured
  • An optical module including a collimating lens and a condensing lens, the collimating lens is located on a transmitting light path of the transmitting module, and is configured to collimate a laser pulse sequence emitted by the transmitting module from the laser ranging device,
  • the condensing lens is used for condensing at least a part of the reflected light reflected by the object to be measured;
  • a detection module configured to receive the light beam converged by the converging lens and convert it into an electric signal; and determine a distance between the object to be measured and the laser distance measuring device according to the electric signal;
  • the laser ranging device of the present invention is provided with a driving system to drive an optical module including a collimator lens and a condensing lens to move in a plane perpendicular to the optical axis of the laser pulse sequence, so as to change the detection direction of the laser ranging device.
  • Obtain the distance information of the near and distant measured objects in a short time and drive the optical module including the collimating lens and the condensing lens to move along the optical axis direction to change the field of view FOV of the laser ranging device, so as to pass the above setting
  • the detection distance of the laser ranging device can be close or far, the detection direction can be changed to increase its detection range, and improve the detection efficiency.
  • the structure of the laser ranging device of the present application can be a single-point ranging structure, and its structure is more compact and more miniaturization. In addition, make full use of lenses to reduce costs.
  • FIG. 1 is a schematic structural diagram of a laser ranging device according to an embodiment of the present invention.
  • the laser ranging device includes a transmitting module 11.
  • the transmitting module 11 is configured to transmit a laser pulse sequence to detect an object to be measured.
  • the transmitting module 11 may include a laser tube, a switching device, and a driver.
  • the laser tube may be a diode, for example, a positive-intrinsic-negative (PIN) photodiode.
  • the laser tube may emit a laser pulse sequence with a specific wavelength.
  • the laser tube may be called a light source or an emission light source.
  • the switching device is a switching device of a laser tube, which can be connected to the laser tube for controlling the switching of the laser tube.
  • the laser tube When the laser tube is on, the laser pulse sequence can be transmitted, and when the laser tube is off, the A laser pulse sequence is emitted.
  • the driver can be connected to the switching device for driving the switching device.
  • the switching device may be a metal-oxide-semiconductor (MOS) tube, and the driver may include a MOS driver.
  • MOS driver may be used for Drive the MOS tube as a switching element.
  • the MOS tube can control the switching of the laser tube.
  • the switching device may also be a Gallium Nitride (GaN) tube, and the driver may be a GaN driver.
  • GaN Gallium Nitride
  • the laser ranging device further includes a control module 140, and the control module 140 may send a driving signal to a driver of the transmitting module, so that the driver transmits the transmitting power to the laser transmitter and the wavelength of the laser according to the received driving signal And at least one of control parameters such as the transmission direction and the transmission direction.
  • the laser ranging device further includes an optical module.
  • the optical module includes a collimating lens 12 and a condensing lens 13.
  • the collimating lens 12 is located on a transmitting light path of the transmitting module 11 and is used for transmitting the transmitting module 11. After the laser pulse sequence is collimated, it is emitted from the laser ranging device. When the laser pulse sequence emitted by the transmitting module 11 is collimated, the divergence angle of the transmitted laser pulse sequence can be made smaller, thus improving the ranging accuracy.
  • the condensing lens 13 is used for condensing at least a part of the reflected light reflected by the object to be measured.
  • the aforementioned collimating lens 12 and the condensing lens 13 may be two independent convex lenses, or the collimating lens and the condensing lens may also be the same lens, such as the same convex lens.
  • the laser ranging The device further includes an optical path changing element 106, which is located on a side of the optical module 104 close to the transmitting module 11 and is configured to combine the transmitting optical path of the transmitting module 11 and the receiving optical path of the detection module 105.
  • the optical path changing element 106 changes the optical path of the light beam emitted by the transmitting module 11.
  • the detection module 105 is placed on the focal plane of the optical module 104, and the transmitting module 11 is placed on one side of the optical axis of the optical module 104.
  • the transmitting module 11 is biased to one side with respect to the optical module 104.
  • the light beam emitted by the transmitting module 11 is projected onto the light path changing element 106, and the light path changing element 106 projects the light beam emitted by the transmitting module 11 toward the optical module 104.
  • the light path changing element 106 is offset from the optical axis of the optical module 104, so that the light path changing element 106 can block the light path of the returned light as much as possible.
  • the optical path changing element 106 is located on a side of the optical module 104 that is biased toward the transmitting module 11.
  • the optical path changing element 106 is located on a side of the optical module 104 away from the transmitting module 11.
  • the light path changing element 106 reflects the light beam emitted by the transmitting module 11.
  • the light path changing element 106 includes a mirror.
  • the center axis of the transmitting module 11 is perpendicular to the center axis of the detection module 105.
  • the reflection surface of the light path changing element 106 is 45 ° from the center axis of the transmitting module 11 and 45 ° from the center axis of the detection module 105.
  • the transmitting module 11, the detecting module 105, and the light path changing element 106 can be placed at other angles.
  • the distance from the transmitting module 11 to the optical path changing element 106 is equal to the distance between the detecting module 105 and the optical path changing element 106. Since the detection module 105 is placed on the focal plane of the optical module 104, the distance from the transmitting module 11 to the optical path changing element 106 is approximately equal to the focal position of the optical path changing element 106 to the optical module 104.
  • the light beam emitted by the transmitting module 11 is equivalent to the light beam emitted from the focal position, and the optical module 104 has a better collimation effect on the light beam.
  • the laser ranging device further includes a detection module 105 for receiving the light beam condensed by the condensing lens and converting it into an electrical signal, and determining the object to be measured and the laser measurement according to the electrical signal.
  • the detection module 105 may be any module structure capable of realizing the above functions.
  • the detection module includes a receiving module 14, a sampling module 15, and a control module 140.
  • the transmitting module 11 may transmit a laser pulse sequence.
  • the receiving module 14 may receive a laser pulse sequence reflected by the detected object, and perform photoelectric conversion on the laser pulse sequence to obtain an electrical signal. After the electrical signal is processed, the electrical signal may be output to the sampling module 15.
  • the sampling module 15 may sample the electrical signal to measure a time difference between the laser pulse sequence from transmission to reception.
  • the control module 140 includes an operation module. The operation module may determine the distance between the laser ranging device 100 and the object to be measured based on the sampling result of the sampling module 15.
  • the receiving module 14 may include a photoelectric conversion device 110, and the photoelectric conversion device 110 may convert a detected laser pulse sequence into an electrical signal.
  • the photoelectric conversion device 110 may include a PIN diode or an avalanche photodiode.
  • the receiving module 14 may include a signal processing circuit, and the signal processing circuit may implement amplification and / or filtering of an electrical signal.
  • the signal processing circuit may include an amplifying circuit 120, which may amplify an electrical signal, and may specifically perform at least one stage of amplification, and the number of stages of amplification may be determined according to a device of the sampling module.
  • an amplifying circuit 120 which may amplify an electrical signal, and may specifically perform at least one stage of amplification, and the number of stages of amplification may be determined according to a device of the sampling module.
  • the above-mentioned signal processing circuit may include a first-stage amplifier circuit and a second-stage amplifier circuit, wherein the first-stage amplifier circuit is configured to amplify the electric signal output from the photoelectric conversion device, and the second-stage amplifier circuit It is used for further amplifying the electric signal from the first-stage amplifying circuit.
  • the primary amplifier circuit may include a transimpedance amplifier
  • the secondary amplifier may include other types of signal amplifiers.
  • the sampling module is configured to sample the electrical signal input by the receiving module, and the sampling module may have at least two implementation manners.
  • the sampling module may include a signal comparator and a time-to-digital converter. Specifically, after the electric signal output by the receiving module passes through the signal comparator, it can enter the time-to-digital converter, and then the time-to-data converter can output an analog signal to the operation module.
  • the sampling module may be implemented by a programmable device, and the programmable device may be a Field Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (Application Specific Integrated Circuit). ASIC) or complex programmable logic device (Complex, Programmable, Logic, Device, CPLD, etc.)
  • the programmable device may include a port, and the signal output by the receiving module may be input through the port to a device for sampling, such as an ADC or a signal comparator.
  • the comparator may or may not be on the FPGA.
  • the signal comparator is classified as a sampling module, but it should be understood that the embodiment of the present application may also be classified as a device included in the receiving module.
  • a first input terminal (ie, a non-inverting terminal) of the comparator 1301 is used to receive an electrical signal input from the amplifier circuit 120, that is, an amplified electrical signal
  • a second input terminal of the comparator 1301 (Ie, the inverting terminal) is used to receive a preset threshold
  • the output terminal of the comparator 1301 is used to output the result of the comparison operation, wherein the result of the comparison operation includes time information corresponding to the electrical signal.
  • the preset threshold value received by the second input end of the comparator 1301 may be an electric signal having a preset threshold value.
  • the result of the comparison operation may be a digital signal corresponding to the amplified electrical signal.
  • FIG. 4 is a schematic diagram of a time extraction method according to an embodiment of the present invention.
  • the electrical signal 410 input to the sampling module that is, the electrical signal 410 input to the comparator
  • a preset threshold V to obtain a square wave signal 420 as shown by a dashed line.
  • the time T of the changing edge can be considered as the time when the electrical signal 410 crosses the comparator.
  • the comparator output changes from low to high, and the rising edge can represent the time information of the rising edge of the pulse signal at the preset threshold.
  • the comparator output changes from high to low, and the falling edge can represent the time information of the falling edge of the pulse signal at the threshold.
  • the output signal of the comparator is connected to the TDC chip.
  • control module 140 is further configured to obtain time information, calculate distance information corresponding to the time information, and generate an image based on the distance information, which is not limited in the present invention.
  • At least two comparators may be provided, and each comparator has a different preset threshold. In this way, the same electrical signal can trigger at least one preset threshold, and the control module can obtain more time information, which helps to improve the calculation accuracy.
  • the above-mentioned laser ranging device can be a small-volume single-point ranging device.
  • a small-volume ranging device has a limited output power, a limited measuring distance, and a single detection direction that affects its detection field of view and limits its application.
  • the laser ranging device of the present application makes the following further improvements.
  • the laser ranging device of the present application further includes a driving system 18 for driving the optical module including the collimating lens 12 and the condensing lens 13 in a plane perpendicular to the optical axis of the laser pulse sequence and / Or move along the optical axis.
  • the collimating lens 12 and the condensing lens 13 are fixed together, driven by the same driving system and moved at the same time.
  • Such an installation method has a simpler structure and reduces the design difficulty of the structure.
  • the simultaneous movement of the collimating lens 12 and the condensing lens 13 can be ensured, so that the optical axis of the emitted light beam and the optical axis of the received return light can always remain substantially parallel.
  • the driving system 18 is configured to drive an optical module including the collimating lens 12 and the condensing lens 13 in a plane perpendicular to the optical axis of the laser pulse sequence to change the detection direction of the laser ranging device.
  • the planes perpendicular to the optical axis of the laser pulse sequence can be defined as the X and Y directions.
  • the laser ranging device controls the moving distance of the optical module including the collimator lens 12 and the condensing lens 13 in a plane perpendicular to the optical axis of the laser pulse sequence according to the target detection direction. That is, the control optical module is predetermined to a predetermined position in a plane perpendicular to the optical axis.
  • the positions of the collimating lens 12 and the condensing lens 13 can be arbitrarily moved in the X and Y directions; when the collimating lens 12 and the condensing lens 13 are moved in the X and Y directions, the emission angle of the laser pulse sequence is also Correspondence changes, and the angle is related to the positions of the collimating lens 12 and the condensing lens 13; according to the positions of the collimating lens 12 and the condensing lens 13, the control module can know the emission angle and use this to know where the measured object is located Angle information; combined with distance information and angle information of the measured object, 3D information can be presented.
  • the driving system is configured to drive an optical module including a collimating lens 12 and a condensing lens 13 to reciprocate along an optical axis direction of a laser pulse sequence to change a field of view FOV of the laser ranging device.
  • the driving system 18 reciprocates along the optical axis direction by driving the optical module to change the divergence angle of the laser pulse sequence, and the FOV of the laser ranging device is determined by the divergence angle.
  • the direction of the optical axis of the laser pulse sequence is defined as the Z axis, that is, the direction parallel to the emission direction of the laser pulse sequence is the Z axis.
  • the collimating lens and the condensing lens can be moved in the Z-axis direction.
  • the outgoing light signal is approximately parallel light.
  • the distance of the measured object at a long distance can be measured.
  • the output light signal is conical, that is, the laser has a certain divergence angle, which can measure the measured object within a larger angle in the vicinity. The distance of the object.
  • a target FOV is determined, and a moving distance of the optical module in an optical axis direction is controlled according to the target FOV.
  • An image recognition device or other imaging system can be used to determine the general orientation information of the target object (that is, the object to be measured) relative to the current optical axis through image recognition, and then determine the target detection direction.
  • the image recognition device or imaging system may be provided on the laser ranging device or on a device to which the laser ranging device is applied. For example, when the laser ranging device is applied to a camera, the imaging system included in the camera is used. The imaging system determines the position information of the target object relative to the imaging system according to the position of the target object in the picture, and then determines the target detection direction.
  • control module 140 of the laser ranging device may be further configured to receive azimuth information of the target object, and control the driving system to drive the optical module to a predetermined position according to the azimuth information.
  • the position of the collimating lens 12 and the condensing lens 13 can also be measured by other devices capable of measuring the positions of the collimating lens 12 and the condensing lens 13, such as a displacement sensor, and the position information can be obtained. Feedback to the control module 140.
  • the laser ranging device further includes a movement module, and the driving system drives the movement module to move the optical module perpendicular to the optical axis of the laser pulse sequence In the plane and / or along the optical axis.
  • the laser ranging device further includes a first moving module 161, the first moving module 161 is an XY axis moving module, and the driving system 18 drives the first moving module 161 to move
  • the pointing direction of the ranging is changed to produce a 3D scanning effect.
  • the laser ranging device further includes a second moving module 162, and the driving system 18 drives the second moving module 162 to move, so as to drive the collimating lens 12 and the condensing lens 13 along the laser pulse sequence.
  • the optical axis moves back and forth. Wherein, the distance from the transmitting module and the receiving module is changed as required.
  • the same driving system can be used to drive the collimating lens 12 and the condensing lens 13 in the XY axis direction and the Z axis direction, or different driving systems can be used to drive the collimating lens 12 and the condensing lens 13 in the XY axis direction, respectively.
  • Z axis direction can be used to drive the collimating lens 12 and the condensing lens 13 in the XY axis direction, respectively.
  • Z axis direction can be used to drive the collimating lens 12 and the condensing lens 13 in the XY axis direction and the Z axis direction.
  • the driving system includes an electromagnetic driver, a voice coil driver or a piezoelectric ceramic driver, or other suitable drivers.
  • the driving system includes an electromagnetic driver including an electromagnet and a magnetic component, wherein the electromagnet is disposed on a base 111 where the transmitting module 11 is located.
  • the transmitting The module and the receiving module are disposed on the base 111, and the magnetic component is disposed on a mobile module where the optical module including the collimating lens 12 and the condensing lens 13 is located, for example, on the first mobile module 161 and the first On the two moving modules 162, alternating current is applied to the electromagnet to make the moving module vibrate, and the movement of the collimating lens 12 and the condensing lens 13 is driven by the vibration of the moving module.
  • the magnetic component includes a permanent magnet or other magnetic material disposed on the mobile module.
  • an elastic body (not shown) is further provided between the mobile module and the base, and the driving frequency of the electromagnet is set around the natural frequency of the elastic body to generate resonance and increase Amplitude, reducing energy loss.
  • the distance measuring device further includes a filter 17 configured to filter the return light before reaching the condensing lens 13 to filter at least light of a non-working range wavelength. portion.
  • the bandwidth of the filter 17 is the same as the bandwidth of the light beam emitted by the transmitting module 11, and the filter 17 filters light outside the bandwidth of the emitted beam to filter out at least a part of the natural light in the returned light. Reduce the interference of natural light on detection.
  • the filter 17 is located on the side of the condensing lens 13 facing away from the detection module. In this way, the incidence angle of the return light that is not converged by the convergent lens 13 is better than the incidence angle of the return light that is converged by the condensing lens 13, and therefore, it is possible to reduce the drift of the filtering spectrum caused by the change in the incidence angle.
  • the filter 17 is made of a high refractive index material, for example, the refractive index of the filter 17 is equal to or greater than 1.8.
  • a filter having a high refractive index has a low sensitivity to an incident angle of light, and a spectral shift for incident light having an incident angle of 0 ° to about 30 ° is less than a certain value (for example, 12 nm).
  • the use of the high refractive index filter 17 can reduce the problem that the spectrum of the band with the filter 17 is shifted due to the larger incident angle of part of the returned light, which leads to an increase in the proportion of the returned light reflected by the filter 17.
  • the t value corresponding to the farthest detection distance is hereinafter referred to as t0.
  • the duty cycle is greater than t0. In some implementations, the duty cycle is at least 5 times greater than t0. In some implementations, the duty cycle is at least 10 times greater than t0. In some implementations, the duty cycle is greater than 15 times t0.
  • the laser ranging device can be used to measure the distance from the measured object to the ranging device and the orientation of the measured object relative to the measured object.
  • the detection device may include a radar, such as a lidar.
  • the detection device can detect the distance between the detection object and the laser ranging device by measuring the time of light propagation between the laser ranging device and the measured object, that is, the time-of-flight (TOF).
  • TOF time-of-flight
  • the laser ranging device is used to sense external environmental information, such as distance information, angle information, reflection intensity information, velocity information, and the like of environmental targets.
  • the laser ranging device according to the embodiment of the present invention may be applied to a mobile device, and the distance detecting device may be installed on a device body of the mobile device.
  • a mobile device with a laser ranging device can measure the external environment, for example, measuring the distance between the mobile device and an obstacle for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile device includes at least one of an unmanned aerial vehicle, a car, a remotely controlled vehicle, and a robot.
  • the device body is the fuselage of the unmanned aerial vehicle.
  • the device body is the body of the car.
  • the body of the device is the body of the remote control car.
  • the present invention also provides a mobile device, the mobile device including a focusable imaging system, and the aforementioned laser ranging device.
  • the structure of the laser ranging device has been described in the foregoing embodiments, and here I will not repeat them here.
  • the imaging system is configured to determine the position information of the target object relative to the imaging system according to the position of the target object in the screen;
  • the laser ranging device is configured to adjust the detection of the laser ranging device according to the orientation information Direction, and measure distance information between the target object and the laser ranging device;
  • the imaging system is further configured to perform focusing according to the distance information acquired by the laser ranging device, so that clear imaging can be performed.
  • the ranging device further includes a control module 140 that receives the orientation information of the target object fed back by the imaging system and controls the orientation information according to the orientation information.
  • the driving system 18 drives the optical module including the collimating lens 12 and the condensing lens 13 to a predetermined position.
  • the distance measuring device includes a position feedback system 19, which is configured to feedback position information of the moved optical module to the control module 140.
  • the control module 140 determines whether the optical module has moved to a predetermined position. When moving to the predetermined position, the control module 140 controls the driving system to be turned off to stop the optical module from moving. If the optical module has not moved to the predetermined position, the driving system continues to drive the moving module. The optical module is moved until it moves to a predetermined position.
  • the position feedback system 19 includes at least one displacement sensor, and the number of the displacement sensors is reasonably set according to actual needs.
  • the displacement sensor includes a Hall sensor, a grating sensor or a laser sensor or other sensors capable of implementing displacement measurement.
  • the aforementioned mobile device may further include a camera, and the laser ranging device may be used for focusing of the camera.
  • the laser ranging device can be used to obtain the distance and orientation information of the subject and the laser ranging device, that is, the distance and orientation information of the camera's imaging system and the subject is obtained. According to the distance and orientation information, the camera Focus to enable clear imaging.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or Can be integrated into another device, or some features can be ignored or not implemented.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention.
  • DSP digital signal processor
  • the invention may also be implemented as a device program (e.g., a computer program and a computer program product) for performing part or all of the method described herein.
  • a program that implements the present invention may be stored on a computer-readable medium or may have the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

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Abstract

一种激光测距装置及移动设备，该激光测距装置包括：发射模块（11）、包括准直透镜（12）和会聚透镜（13）的光学模块、探测模块和驱动系统，发射模块（11）用于发射激光脉冲序列，以探测待测物体；准直透镜（13）位于发射模块（11）的发射光路上，用于将发射模块（11）发射的激光脉冲序列准直后从激光测距装置出射，会聚透镜（13）用于会聚待测物体反射的回光的至少一部分；探测模块用于接收会聚透镜（13）所会聚的光束并转换为电信号，以及根据电信号确定待测物体与激光测距装置的距离；驱动系统（18）用于驱动光学模块在与激光脉冲序列的光轴垂直的平面内和/或沿光轴方向移动。

Description

一种激光测距装置及移动设备
说明书
技术领域
本发明总地涉及光学探测领域，更具体地涉及一种激光测距装置及移动设备。
背景技术
距离探测装置在很多领域发挥很重要的作用，例如可以用于移动载体或非移动载体上，用来遥感、避障、测绘、建模、环境感知等。尤其是移动载体，例如机器人、人工操控飞机、无人飞机、车和船等，可以通过距离探测装置在复杂的环境下进行导航，来实现路径规划、障碍物探测和避开障碍物等。距离探测装置小型化一直是值得探讨和研究的问题。体积小巧的激光测距模块，可以比较方便的用于无人机定高、避障等。然而，体积小巧的激光测距模块往往受到其测量距离以及测量范围的约束而无法在很多应用场合中使用。
发明内容
为了解决上述问题中的至少一个而提出了本发明。具体地，本发明一方面提供一种激光测距装置，所述激光测距装置包括：
发射模块，用于发射激光脉冲序列，以探测待测物体；
包括准直透镜和会聚透镜的光学模块，所述准直透镜位于所述发射模块的发射光路上，用于将所述发射模块发射的激光脉冲序列准直后从所述激光测距装置出射，所述会聚透镜用于会聚所述待测物体反射的回光的至少一部分；
探测模块，用于接收所述会聚透镜所会聚的光束并转换为电信号，以及根据所述电信号确定所述待测物体与所述激光测距装置的距离；
驱动系统，用于驱动所述光学模块在与所述激光脉冲序列的光轴垂直的平面内和/或沿光轴方向移动。
可选地，所述准直透镜和所述会聚透镜固定在一起，由同一个驱动系 统驱动并同时移动。
可选地，所述准直透镜和会聚透镜为同一个透镜；
所述激光测距装置还包括光路改变元件，位于所述光学模块靠近所述发射模块的一侧，用于将所述发射模块的发射光路和所述探测模块的接收光路合并。
可选地，所述驱动系统用于驱动所述光学模块在与所述光轴垂直的平面内，以改变所述激光测距装置的探测方向。
可选地，确定目标探测方向，根据目标探测方向控制所述光学模块在与所述光轴垂直的平面内的移动距离
可选地，所述驱动系统用于驱动所述光学模块沿所述光轴方向往复移动，以改变所述激光测距装置的视场FOV。
可选地，确定目标FOV，根据目标FOV控制所述光学模块在光轴方向的移动距离。
可选地，所述驱动系统通过驱动所述光学模块沿所述光轴方向往复移动，以改变所述激光脉冲序列的发散角，所述激光测距装置的FOV是由所述发散角确定的。
可选地，所述激光测距装置还包括移动模块，所述驱动系统驱动所述移动模块移动，以带动所述光学模块在与所述光轴垂直的平面内和/或沿所述光轴移动。
可选地，所述激光测距装置还包括第一移动模块，所述驱动系统驱动所述第一移动模块移动，以驱动所述光学模块在与所述光轴垂直的平面内移动。
可选地，所述激光测距装置还包括第二移动模块，所述驱动系统驱动所述第二移动模块移动，以驱动所述光学模块沿所述光轴往复移动。
可选地，所述测距装置还包括滤光件，所述滤光件配置为对到达所述会聚透镜之前的回光进行滤光，以过滤非工作范围波长的光的至少一部分。
可选地，所述滤光件位于所述会聚透镜背向所述探测模块的一侧。
可选地，驱动系统包括电磁驱动器、音圈驱动器或压电陶瓷驱动器。
可选地，所述驱动系统包括电磁驱动器，所述电磁驱动器包括电磁铁以及磁性组件，其中，所述电磁铁设置在所述发射模块所在的底座上，所 述磁性组件设置在所述光学模块所在的移动模块上，对所述电磁铁通以交流电，以使所述移动模块振动。
可选地，所述磁性组件包括设置在所述移动模块上的永磁体。
可选地，在所述移动模块和所述底座之间还设置有弹性体，所述电磁铁驱动频率设置在所述弹性体的固有频率左右，以产生共振。
可选地，所述测距装置还包括底座，所述发射模块和所述接收模块设置在所述底座上。
可选地，所述探测模块包括：
接收模块，用于将接收到的经所述待测物体反射的所述回光转换为电信号输出；
采样模块，用于对所述接收模块输出的所述电信号进行采样，以测量所述激光脉冲序列从发射到接收之间的时间差；
运算模块，用于接收所述采样模块输出的所述时间差，计算获得距离测量结果。
可选地，所述接收模块包括光电转换器件，用于将检测到的所述激光脉冲序列转换为电信号。
可选地，所述接收模块包括信号处理电路，所述信号处理电路用于对接收的所述光电转换器件输出的电信号进行放大和/或滤波。
可选地，所述采样模块包括信号比较器和时间测量模块，所述接收模块输出的电信号经所述信号比较器之后进入所述时间测量模块，所述时间测量模块用于测量所述激光脉冲序列从发射到接收之间的时间差。
可选地，所述时间测量模块包括时间数字转换器。
可选地，所述时间测量模块包括采用FPGA内部延时链来实现时间测量的电路结构、采用高频时钟实现时间测量的电路结构或者计数方式实现时间测量的电路结构。
可选地，所述发射模块包括：
激光管，用于发射所述激光脉冲序列；
开关器件，用于控制所述激光管的开关；
驱动器，用于对所述开关器件进行驱动。
本发明再一方面提供一种移动设备，所述移动设备包括可调焦的成像 系统，以及前述的激光测距装置；
所述成像系统用于根据目标物体在画面中的位置确定所述目标物体相对所述成像系统的方位信息；
所述激光测距装置用于根据所述方位信息调整所述激光测距装置的探测方向，并测量所述目标物体与激光测距装置之间的距离信息；
所述成像系统还用于根据所述激光测距装置获取到的所述距离信息进行调焦。
可选地，所述测距装置还包括控制模块，所述控制模块接收所述方位信息，并依据所述方位信息控制所述驱动系统驱动所述光学模块移动至预定位置。
可选地，所述测距装置还包括位置反馈系统，所述位置反馈系统用于将移动后的光学模块的位置信息反馈至所述控制模块。
可选地，所述位置反馈系统包括至少一个位移传感器。
可选地，所述位移传感器包括霍尔传感器、光栅传感器或激光传感器。
可选地，所述移动设备包括相机、无人机、汽车或机器人。
本发明的激光测距装置通过设置驱动系统，驱动包括准直透镜和会聚透镜的光学模块在与激光脉冲序列的光轴垂直的平面内移动，以改变所述激光测距装置的探测方向，可以在短时间内获得近处和远处的被测物体的距离信息，驱动包括准直透镜和会聚透镜的光学模块沿光轴方向移动，以改变激光测距装置的视场FOV，从而通过上述设置使得激光测距装置的探测距离可近可远，探测方向可变从而增加其探测范围，提高探测效率，本申请的激光测距装置的结构可以为单点测距结构，其结构更紧凑，更加小型化。而且，充分利用透镜，降低成本。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出本发明一实施例中的激光测距装置的架构示意图；
图2示出本发明一实施例中的激光测距装置的局部示意图；
图3示出本发明一实施例中的激光测距装置的示意性框架图；
图4示出本发明实施例提供的一种时间提取方法的原理示意图；
图5示出本发明另一实施例中的激光测距装置的示意性框架图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的结构，以便阐释本发明提出的技术方案。本发明的可选实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
为了解决上述问题，本发明提供了一种激光测距装置，所述激光测距装置包括：
发射模块，用于发射激光脉冲序列，以探测待测物体；
包括准直透镜和会聚透镜的光学模块，所述准直透镜位于所述发射模块的发射光路上，用于将所述发射模块发射的激光脉冲序列准直后从所述 激光测距装置出射，所述会聚透镜用于会聚所述待测物体反射的回光的至少一部分；
探测模块，用于接收所述会聚透镜所会聚的光束并转换为电信号，以及根据所述电信号确定所述待测物体与所述激光测距装置的距离；
驱动系统，用于驱动所述光学模块在与所述激光脉冲序列的光轴垂直的平面内和/或沿光轴方向移动。
本发明的激光测距装置通过设置驱动系统，驱动包括准直透镜和会聚透镜的光学模块在与激光脉冲序列的光轴垂直的平面内移动，以改变所述激光测距装置的探测方向，可以在短时间内获得近处和远处的被测物体的距离信息，驱动包括准直透镜和会聚透镜的光学模块沿光轴方向移动，以改变激光测距装置的视场FOV，从而通过上述设置使得激光测距装置的探测距离可近可远，探测方向可变从而增加其探测范围，提高探测效率，本申请的激光测距装置的结构可以为单点测距结构，其结构更紧凑，更加小型化。而且，充分利用透镜，降低成本。
下面结合附图，对本申请的激光测距装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图1示出本发明一实施例中的激光测距装置的架构示意图。如图1所示，激光测距装置包括发射模块11，发射模块11用于发射激光脉冲序列，以探测待测物体。发射模块11可以包括激光管、开关器件和驱动器。其中，激光管可以是二极管，例如可以是正极本征负极(positive-intrinsic-negative，PIN)光电二极管，该激光管可以发射特定波长的激光脉冲序列，该激光管可以称为光源或发射光源。
开关器件为激光管的开关器件，可以与激光管连接，用于控制激光管的开关，其中，在激光管处于开的状态时，可以发射激光脉冲序列，在激光管处于关的状态时，不发射激光脉冲序列。驱动器可以与开关器件连接，用于对开关器件进行驱动。
可选地，在本申请实施例中，该开关器件可以是金属氧化物半导体场效应管((metal-oxide-semiconductor，MOS)管，该驱动器可以包括MOS驱动器。其中，该MOS驱动器可以用于驱动作为开关元件的MOS管，MOS管可以控制激光管的开关。
应理解，该开关器件还可以为氮化镓(Gallium nitride，GaN)管，该驱动器可以为GaN驱动器。
在一个示例中，所述激光测距装置还包括控制模块140，控制模块140可以向发射模块的驱动器发送驱动信号，使驱动器根据接收到的驱动信号对激光发射器的发射功率、发射激光的波长、发射方向等控制参数中的至少一种进行控制。
如图1所示，激光测距装置还包括光学模块，光学模块包括准直透镜12和会聚透镜13，所述准直透镜12位于发射模块11的发射光路上，用于将发射模块11发射的激光脉冲序列准直后从激光测距装置出射，对发射模块11发射的激光脉冲序列进行准直时能够使得发射激光脉冲序列的发散角较小，如此提高测距的精度。所述会聚透镜13用于会聚待测物体反射的回光的至少一部分。
前述准直透镜12和会聚透镜13可以是两个独立的凸透镜，或者，准直透镜和会聚透镜还可以为同一个透镜，例如同一个凸透镜，例如，如图2所示，所述激光测距装置还包括光路改变元件106，位于光学模块104靠近所述发射模块11的一侧，用于将所述发射模块11的发射光路和探测模块105的接收光路合并。
光路改变元件106改变发射模块11发射的光束的光路。探测模块105放置于光学模块104的焦面上，发射模块11放置于光学模块104的光轴的一侧。发射模块11相对于光学模块104偏向一侧。发射模块11发出的光束投射到光路改变元件106，光路改变元件106将发射模块11发射的光束向光学模块104投射。在一个实施例中，光路改变元件106偏离光学模块104的光轴，如此可以尽量减少光路改变元件106对回光的光路的遮挡。在一个实施例中，光路改变元件106位于光学模块104的光轴偏向发射模块11的一侧。在另一个实施例中，光路改变元件106位于光学模块104的光轴远离发射模块11的一侧。
在一个实施例中，光路改变元件106反射发射模块11发出的光束。在图2所示的实施例中，光路改变元件106包括反射镜。在一个实施例中，发射模块11的中轴线垂直于探测模块105的中轴线。光路改变元件106的反射面与发射模块11的中轴线成45°，且与探测模块105的中轴线成45°。上述仅是一个例子，并不限于该例子。在其他实施例中，发射模块11、探测模块105和光路改变元件106还可成其他角度放置。
发射模块11到光路改变元件106的距离等于探测模块105到光路改变元件106之间的距离。因探测模块105放置于光学模块104的焦面上，因 此发射模块11到光路改变元件106的距离大致等于光路改变元件106到光学模块104的焦点位置。发射模块11发出的光束等同于从焦点位置发出的光束，光学模块104对光束的准直效果较好。
如图2所示，激光测距装置还包括探测模块105，用于接收所述会聚透镜所会聚的光束并转换为电信号，以及根据所述电信号确定所述待测物体与所述激光测距装置的距离。所述探测模块105可以是任意的能够实现上述功能的模块结构。
在一个示例中，如图1所示，所述探测模块包括接收模块14、采样模块15和控制模块140，发射模块11可以发射激光脉冲序列。接收模块14可以接收经过被探测物反射的激光脉冲序列，并对该激光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样模块15。采样模块15可以对电信号进行采样，以测量所述激光脉冲序列从发射到接收之间的时间差。控制模块140包括运算模块，运算模块可以基于采样模块15的采样结果，以确定激光测距装置100与待测物体之间的距离。
在一个示例中，如图3所示，接收模块14可以包括光电转换器件110，光电转换器件110可以将检测到的激光脉冲序列转换为电信号。可选地，该光电转换器件110可以包括PIN二极管或雪崩光电二极管等。
可选地，该接收模块14可以包括信号处理电路，该信号处理电路可以实现对电信号的放大和/或滤波。
具体地，该信号处理电路可以包括放大电路120，该放大电路120可以对电信号进行放大，具体可以进行至少一级的放大，放大的级数可以根据采样模块的器件而定。
具体地，上述信号处理电路可以包括一级放大电路和二级放大电路，其中，所述一级放大电路用于对来自所述光电转换器件输出的电信号进行放大处理，所述二级放大电路用于对来自所述一级放大电路的电信号进行进一步放大处理。
例如，该一级放大电路可以包括跨阻放大器，该二级放大器可以包括其他类型的信号放大器。
在一个示例中，在采样模块的器件包括模数转换器(Analog-to-Digital Converter，ADC)时，则可以采用一级或至少两级的放大电路进行放大。
在另一个示例中，如图3所示，例如，在采样模块15的器件包括信号比较器1301(例如，可以为模拟比较器(analog comparator，COMP)，用 于将电信号转换为数字信号)和时间测量模块1302，所述接收模块14输出的电信号经所述信号比较器1301之后进入所述时间测量模块1302，所述时间测量模块1302用于测量所述激光脉冲序列从发射到接收之间的时间差。
其中，时间测量模块1302采用时间数字转换器(Time-to-Data Converter，TDC)时，可以采样两级或多于两级的放大电路进行放大。其中TDC可以是TDC芯片，或者是基于现场可编程门阵列(Field－Programmable Gate Array，FPGA)等可编程器件的内部延时链来实现时间测量的TDC电路，或者，采用高频时钟实现时间测量的电路结构或者计数方式实现时间测量的电路结构。
采样模块用于对接收模块输入的电信号进行采样，采样模块可以具有至少两种实现方式。
在一种实现方式中，采样模块可以包括信号比较器和时间数字转换器。具体地，接收模块输出的电信号经过信号比较器之后，可以进入时间数字转换器，然后时间数据转换器可以输出模拟信号至运算模块。
在一种实现方式中，采样模块可以包括模数转换器。具体地，接收模块向采样模块的输入的模拟信号经过ADC的模数转换之后，可以输出数字信号至运算模块。
可选地，在本申请实施例中，采样模块可以由可编程器件实现，该可编程器件可以现场可编程门阵列(Field－Programmable Gate Array，FPGA)或特定应用集成电路(Application Specific Integrated Circuit，ASIC)或复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD等。该可编程器件可以包括端口，接收模块输出的信号可以经过端口输入到用于实现采样的器件，例如，ADC或信号比较器。
可选地，如果TDC是基于FPGA等可编程器件的TDC电路，比较器可以在FPGA上，也可以不在FPGA上。
应理解，在本申请实施例中，将信号比较器归类为采样模块，但应理解，本申请实施例还可以将信号比较器归类为接收模块包括的器件。
如图3所示，比较器1301的第一输入端(也即同相端)用于接收从放大电路120输入的电信号，也即放大运算后的电信号，比较器1301的第二输入端(也即反相端)用于接收预设阈值，比较器1301的输出端用于输出比较运算的结果，其中，比较运算的结果中包含与电信号对应的时间信息。 可以理解，比较器1301的第二输入端接收的预设阈值可以是强度为预设阈值的电信号。比较运算的结果可以是放大运算后的电信号对应的数字信号。
请参阅图4，图4示出本发明实施例提供的一种时间提取方法的原理示意图。如图4所示，输入采样模块的电信号410(也即输入比较器的电信号410)与预设阈值V进行比较运算，获得如虚线所示的方波信号420，方波信号420的跳变沿的时间T可以认为是电信号410穿越比较器时的时间。脉冲信号从下往上穿越预设阈值时，比较器输出由低变高，上升沿可表征脉冲信号上升沿在该预设阈值处的时间信息。脉冲信号从上往下穿越比较器阈值时，比较器输出由高变低，下降沿可表征脉冲信号下降沿在该阈值处的时间信息。比较器的输出信号接TDC芯片，TDC芯片可以测量比较器输出信号沿的时间信息，所测量时间是以激光发射信号作为参考，也就是可以测量到激光信号从发射到接收之间的时间差dT。那么物体的距离可以计算为L＝c×dT/2，其中，c为激光脉冲序列的传播速度。
可选地，控制模块140还用于获取时间信息，计算时间信息对应的距离信息以及根据该距离信息生成图像等，本发明不作限制。
一些实现方式中，可设置有至少两个比较器，每个比较器具有不同的预设阈值。这样，同一个电信号可以触发至少一个预设阈值，控制模块可以获取到更多的时间信息，有助于提高计算精度。
上述激光测距装置可以为体积小的单点测距装置，然而体积小的测距装置其出射功率有限制，测量距离有限并且探测方向单一影响了其探测的视场范围，限制了其应用，鉴于上述问题，本申请激光测距装置做如下的进一步改进。
如图5所示，本申请的激光测距装置还包括驱动系统18，用于驱动包括准直透镜12和会聚透镜13的光学模块在与所述激光脉冲序列的光轴垂直的平面内和/或沿光轴方向移动。
激光测距装置中可以采用同轴光路，也即激光测距装置出射的光束和经反射回来的光束在激光测距装置内共用至少部分光路。或者，激光测距装置也可以采用异轴光路，也即激光测距装置出射的光束和经反射回来的光束在激光测距装置内分别沿不同的光路传输。本实施例中，主要以准直透镜12和会聚透镜13各自分别为单独的透镜的情况为例进行说明，而对于同轴光路的准直透镜和会聚透镜为同一个透镜的情况也同样适用于本发明。
在一个示例中，如图3所示，所述准直透镜12和所述会聚透镜13固定在一起，由同一个驱动系统驱动并同时移动，这样的设置方式结构更加简单，降低结构的设计难度，并且能够保证准直透镜12和会聚透镜13的同时移动，可使得发射光束的光轴和接收的回光的光轴始终保持大体的平行。
在一个示例中，所述驱动系统18用于驱动包括准直透镜12和会聚透镜13的光学模块在与激光脉冲序列的光轴垂直的平面内，以改变激光测距装置的探测方向。在此可以定义与激光脉冲序列的光轴垂直的平面为X、Y方向。
可选地，在确定目标探测方向的情况下，激光测距装置根据目标探测方向控制包括准直透镜12和会聚透镜13的光学模块在与激光脉冲序列的光轴垂直的平面内的移动距离，也即控制光学模块在与光轴垂直的平面内预定到预定位置。
在允许范围内，准直透镜12和会聚透镜13的位置可以在X、Y方向上任意移动；当准直透镜12和会聚透镜13在X、Y方向上移动时，激光脉冲序列的发射角也会对应发生变化，且该角度与准直透镜12和会聚透镜13的位置相关；根据准直透镜12和会聚透镜13的位置，控制模块能够获知发射角，并以此得知被测物体所在的角度信息；结合被测物体的距离信息以及角度信息，可以呈现3D信息。
在另一个示例中，所述驱动系统用于驱动包括准直透镜12和会聚透镜13的光学模块沿激光脉冲序列的光轴方向往复移动，以改变所述激光测距装置的视场FOV。可选地，所述驱动系统18通过驱动光学模块沿所述光轴方向往复移动，以改变所述激光脉冲序列的发散角，所述激光测距装置的FOV是由所述发散角确定的。
在本申请中，定义激光脉冲序列的光轴方向为Z轴，也即平行于激光脉冲序列的出射方向的方向为Z轴。准直透镜和会聚透镜可以在Z轴向方向上移动。
准直透镜和会聚透镜在某位置下(例如，发射模块位于准直透镜的焦平面附近时)，出射光信号近似平行光，此时可以量测远距离下的被测物体距离。而准直透镜和会聚透镜在某位置(例如焦平面之外或者之内)下，出射光信号为锥形，也就是激光有一定的发散角，可以量测近处更大角度内的被测物体的距离。
可选地，确定目标FOV，根据目标FOV控制所述光学模块在光轴方向的移动距离。
控制模块140可以获知准直透镜12和会聚透镜13的位置，或者可通过其他方式量测得知准直透镜12和会聚透镜13位置，那么控制模块140可以判断当前出射激光脉冲序列是否为近似平行光；在出射激光为锥形时，控制模块140也可知发散角大小。那么，结合前述所测得的距离信息，控制模块140可以获知被测物体的距离、所在角度范围。
可选地，准直透镜12和会聚透镜13可在轴向上做往复运动，那么中控可以在短时间内获得近处和远处的被测物体的距离信息。可选地，准直透镜12和会聚透镜13焦距可以大体相同，以方便透镜移动时激光接收角度与发散角在各角度下保持一致。
可以由图像识别装置或者其他的例如成像系统等通过图像识别判定目标物体(也即待测物体)相对当前光轴的大体方位信息，进而确定目标探测方向。该图像识别装置或者成像系统可以设置在所述激光测距装置上，或者设置在激光测距装置所应用的装置上，例如，激光测距装置应用于相机时，利用相机所包括的成像系统，由成像系统根据目标物体在画面中的位置确定目标物体相对成像系统的方位信息，进而确定目标探测方向。
可选地，所述激光测距装置的控制模块140还可以用于接收目标物体的方位信息，并依据所述方位信息控制所述驱动系统驱动所述光学模块移动至预定位置。
在其他示例中，还可以通过其他能够测量到准直透镜12和会聚透镜13的位置的装置，例如位移传感器等，测量移动后的准直透镜12和会聚透镜13的位置，并将该位置信息反馈至控制模块140。
在一个示例中，为了能够实现光学模块的移动，所述激光测距装置还包括移动模块，所述驱动系统驱动所述移动模块移动，以带动所述光学模块在与激光脉冲序列的光轴垂直的平面内和/或沿光轴移动。
在一个示例中，如图5所示，所述激光测距装置还包括第一移动模块161，第一移动模块161为XY轴移动模块，所述驱动系统18驱动所述第一移动模块161移动，以驱动准直透镜12和会聚透镜13在与激光脉冲序列的光轴垂直的平面内移动，从而使得测距的指向方向发生变化，以产生3维扫描的效果。
可选地，所述激光测距装置还包括第二移动模块162，所述驱动系统 18驱动所述第二移动模块162移动，以驱动所述准直透镜12和会聚透镜13沿激光脉冲序列的光轴往复移动。其中，离发射模块和接收模块的距离根据需要变化。
其中，可以使用同一个驱动系统驱动准直透镜12和会聚透镜13在XY轴方向和Z轴方向移动，或者，也可以使用不同的驱动系统驱动准直透镜12和会聚透镜13分别在XY轴方向和Z轴方向上移动。
可选地，驱动系统包括电磁驱动器、音圈驱动器或压电陶瓷驱动器，或者其他适合的驱动器。
在一个示例中，所述驱动系统包括电磁驱动器，所述电磁驱动器包括电磁铁以及磁性组件，其中，所述电磁铁设置在所述发射模块11所在的底座111上，可选地，所述发射模块和所述接收模块设置在所述底座111上，所述磁性组件设置在包括准直透镜12和会聚透镜13的光学模块所在的移动模块上，例如分别设置在第一移动模块161上和第二移动模块162上，对所述电磁铁通以交流电，以使所述移动模块振动，通过移动模块的振动带动准直透镜12和会聚透镜13的移动。
可选地，所述磁性组件包括设置在移动模块上的永磁体或者其他的磁性材料。
在一个示例中，在所述移动模块和所述底座之间还设置有弹性体(未示出)，所述电磁铁驱动频率设置在所述弹性体的固有频率左右，以产生共振，增大振幅，减少能量损耗。
在一个示例中，所述测距装置还包括滤光件17，所述滤光件17配置为对到达所述会聚透镜13之前的回光进行滤光，以过滤非工作范围波长的光的至少一部分。在一个实施例中，滤光件17的带宽与发射模块11发射出的光束的带宽一致，滤光件17对发射光束带宽之外的光进行过滤，可以滤除回光中的至少一部分自然光，降低自然光对探测的干扰。
由于滤光件的滤光光谱会随着入射光束的入射角度的变化而发生漂移，可选地，所述滤光件17位于所述会聚透镜13背向所述探测模块的一侧。这样未经会聚透镜13会聚的回光的入射角度相比经会聚透镜13会聚后的回光的入射角度的一致性更好，因此，能够减少由于入射角度的变化而导致的滤光光谱漂移。
在一些实施例中，滤光件17采用高折射率材料，例如，滤光件17的折射率大于等于1.8。具有高折射率的滤光件对光入射角度的敏感程度较 低，对于入射角为0°到约30°的入射光的光谱偏移小于一定数值(例如12nm)。采用高折射率的滤光件17可以减少因部分回光的入射角度较大使得带滤光件17的光谱发生漂移，导致被滤光件17反射的回光的比例增大的问题。
具体地，在单通道的激光测距装置中，在该一个工作周期内：一个发射电路发射一路激光脉冲序列(也即一个出射路径的激光脉冲序列)，依次经过接收模块、采样模块和运算模块处理后，最后确定本次测量的结果。实际应用中，在一个工作周期内，从发射电路发射激光脉冲到运算模块计算出距离需要时长为t。该t的具体大小取决于该激光脉冲所探测到的物体距离激光测距装置的距离的远近，距离越远，t越大。当物体距离激光测距装置越远时，经物体反射回的光信号越弱。当反射回的光信号弱到一定程度时，激光测距装置将无法探测到该光信号。因此，激光测距装置所能探测到的最弱的光信号对应的物体，与激光测距装置之间的距离称为激光测距装置的最远探测距离。为描述方便，下文中称该最远探测距离对应的t值为t0。本发明实施例中，工作周期大于t0。一些实现方式中，工作周期大于t0的至少5倍。一些实现方式中，工作周期大于t0的至少10倍。一些实现方式中，工作周期大于t0的15倍。
所述激光测距装置可以用来测量被测物到测距装置的距离以及被测物相对被测物的方位。在一个实施例中，探测装置可以包括雷达，例如激光雷达。探测装置可以通过测量激光测距装置和被测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到激光测距装置的距离。
该激光测距装置用于感测外部环境信息，例如，环境目标的距离信息、角度信息、反射强度信息、速度信息等。具体地，本发明实施方式的激光测距装置可应用于移动设备，所述距离探测装置可安装在移动设备的设备本体。具有激光测距装置的移动设备可对外部环境进行测量，例如，测量移动设备与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动设备包括无人飞行器、汽车、遥控车和机器人中的至少一种。当激光测距装置应用于无人飞行器时，设备本体为无人飞行器的机身。当激光测距装置应用于汽车时，设备本体为汽车的车身。当激光测距装置应用于遥控车时，设备本体为遥控车的车身。
作为示例，本发明还提供一种移动设备，所述移动设备包括可调焦的 成像系统，以及前述的激光测距装置，有关激光测距装置的结构前述实施例中已经进行了描述，在此对于重复的内容不再赘述。所述成像系统用于根据目标物体在画面中的位置确定所述目标物体相对所述成像系统的方位信息；所述激光测距装置用于根据所述方位信息调整所述激光测距装置的探测方向，并测量所述目标物体与激光测距装置之间的距离信息；所述成像系统还用于根据所述激光测距装置获取到的所述距离信息进行调焦，从而能够清晰的成像。
在一个示例中，如图1和图5所示，所述测距装置还包括控制模块140，所述控制模块140接收成像系统反馈的目标物体的方位信息，并依据所述方位信息控制所述驱动系统18驱动包括准直透镜12和会聚透镜13的光学模块移动至预定位置。
在一个示例中，如图5所示，所述测距装置包括位置反馈系统19，所述位置反馈系统19用于将移动后的光学模块的位置信息反馈至所述控制模块140，由所述控制模块140判定光学模块是否移动到了预定位置，在移动到预定位置时，控制模块140控制驱动系统关闭，使光学模块停止移动，而若还未移动到预定位置，则驱动系统继续驱动移动模块，使光学模块移动，直到移动到预定位置。
对于不同移动方向可以使用不同的位置反馈系统，或者也可以使用同一个位置反馈系统。可选地，所述位置反馈系统19包括至少一个位移传感器，该位移传感器的数量根据实际需要进行合理设定。
可选地，所述位移传感器包括霍尔传感器、光栅传感器或激光传感器或者其他能够实现位移测量的传感器。
前述的移动装置还可以包括相机，所述激光测距装置可以用于相机的调焦使用，例如，在相机使用时，由于运动而产生了左右抖动，使被拍摄物体偏离了成像位置，此时可以使用前述的激光测距装置，获得被拍摄物体与激光测距装置的距离和方位信息，也即获得了相机的成像系统与被拍摄物体的距离和方位信息，根据该距离和方位信息，相机进行调焦，以能够拍摄清晰的成像。
基于前文所述的根据本发明实施例的激光测距装置的结构和工作原理，本领域技术人员可以理解根据本发明实施例的移动装置的结构和工作原理，为了简洁，此处不再赘述。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅 仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括 其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (31)

  1. 一种激光测距装置，其特征在于，所述激光测距装置包括：
    发射模块，用于发射激光脉冲序列，以探测待测物体；
    包括准直透镜和会聚透镜的光学模块，所述准直透镜位于所述发射模块的发射光路上，用于将所述发射模块发射的激光脉冲序列准直后从所述激光测距装置出射，所述会聚透镜用于会聚所述待测物体反射的回光的至少一部分；
    探测模块，用于接收所述会聚透镜所会聚的光束并转换为电信号，以及根据所述电信号确定所述待测物体与所述激光测距装置的距离；
    驱动系统，用于驱动所述光学模块在与所述激光脉冲序列的光轴垂直的平面内和/或沿光轴方向移动。
  2. 如权利要求1所述的激光测距装置，其特征在于，所述准直透镜和所述会聚透镜固定在一起，由同一个驱动系统驱动并同时移动。
  3. 如权利要求1所述的激光测距装置，其特征在于，所述准直透镜和会聚透镜为同一个透镜；
    所述激光测距装置还包括光路改变元件，位于所述光学模块靠近所述发射模块的一侧，用于将所述发射模块的发射光路和所述探测模块的接收光路合并。
  4. 如权利要求1至3任一项所述的激光测距装置，其特征在于，所述驱动系统用于驱动所述光学模块在与所述光轴垂直的平面内，以改变所述激光测距装置的探测方向。
  5. 如权利要求4所述的激光测距装置，其特征在于，
    确定目标探测方向，根据目标探测方向控制所述光学模块在与所述光轴垂直的平面内的移动距离
  6. 如权利要求1所述的激光测距装置，其特征在于，所述驱动系统用于驱动所述光学模块沿所述光轴方向往复移动，以改变所述激光测距装置的视场FOV。
  7. 如权利要求6所述的激光测距装置，其特征在于，确定目标FOV，根据目标FOV控制所述光学模块在光轴方向的移动距离。
  8. 如权利要求6所述的激光测距装置，其特征在于，所述驱动系统 通过驱动所述光学模块沿所述光轴方向往复移动，以改变所述激光脉冲序列的发散角，所述激光测距装置的FOV是由所述发散角确定的。
  9. 如权利要求1所述的激光测距装置，其特征在于，所述激光测距装置还包括移动模块，所述驱动系统驱动所述移动模块移动，以带动所述光学模块在与所述光轴垂直的平面内和/或沿所述光轴移动。
  10. 如权利要求9所述的激光测距装置，其特征在于，所述激光测距装置还包括第一移动模块，所述驱动系统驱动所述第一移动模块移动，以驱动所述光学模块在与所述光轴垂直的平面内移动。
  11. 如权利要求9所述的激光测距装置，其特征在于，所述激光测距装置还包括第二移动模块，所述驱动系统驱动所述第二移动模块移动，以驱动所述光学模块沿所述光轴往复移动。
  12. 如权利要求1所述的激光测距装置，其特征在于，所述测距装置还包括滤光件，所述滤光件配置为对到达所述会聚透镜之前的回光进行滤光，以过滤非工作范围波长的光的至少一部分。
  13. 如权利要求12所述的激光测距装置，其特征在于，所述滤光件位于所述会聚透镜背向所述探测模块的一侧。
  14. 如权利要求1所述的激光测距装置，其特征在于，驱动系统包括电磁驱动器、音圈驱动器或压电陶瓷驱动器。
  15. 如权利要求1所述的激光测距装置，其特征在于，所述驱动系统包括电磁驱动器，所述电磁驱动器包括电磁铁以及磁性组件，其中，所述电磁铁设置在所述发射模块所在的底座上，所述磁性组件设置在所述光学模块所在的移动模块上，对所述电磁铁通以交流电，以使所述移动模块振动。
  16. 如权利要求15所述的激光测距装置，其特征在于，所述磁性组件包括设置在所述移动模块上的永磁体。
  17. 如权利要求15所述的激光测距装置，其特征在于，在所述移动模块和所述底座之间还设置有弹性体，所述电磁铁驱动频率设置在所述弹性体的固有频率左右，以产生共振。
  18. 如权利要求1所述的激光测距装置，其特征在于，所述测距装置还包括底座，所述发射模块和所述接收模块设置在所述底座上。
  19. 如权利要求1所述的激光测距装置，其特征在于，所述探测模块包括：
    接收模块，用于将接收到的经所述待测物体反射的所述回光转换为电信号输出；
    采样模块，用于对所述接收模块输出的所述电信号进行采样，以测量所述激光脉冲序列从发射到接收之间的时间差；
    运算模块，用于接收所述采样模块输出的所述时间差，计算获得距离测量结果。
  20. 如权利要求19所述的激光测距装置，其特征在于，所述接收模块包括光电转换器件，用于将检测到的所述激光脉冲序列转换为电信号。
  21. 如权利要求19所述的激光测距装置，其特征在于，所述接收模块包括信号处理电路，所述信号处理电路用于对接收的所述光电转换器件输出的电信号进行放大和/或滤波。
  22. 如权利要求19所述的激光测距装置，其特征在于，所述采样模块包括信号比较器和时间测量模块，所述接收模块输出的电信号经所述信号比较器之后进入所述时间测量模块，所述时间测量模块用于测量所述激光脉冲序列从发射到接收之间的时间差。
  23. 如权利要求22所述的激光测距装置，其特征在于，所述时间测量模块包括时间数字转换器。
  24. 如权利要求22所述的激光测距装置，其特征在于，所述时间测量模块包括采用FPGA内部延时链来实现时间测量的电路结构、采用高频时钟实现时间测量的电路结构或者计数方式实现时间测量的电路结构。
  25. 如权利要求1所述的激光测距装置，其特征在于，所述发射模块包括：
    激光管，用于发射所述激光脉冲序列；
    开关器件，用于控制所述激光管的开关；
    驱动器，用于对所述开关器件进行驱动。
  26. 一种移动设备，其特征在于，所述移动设备包括可调焦的成像系统，以及如权利要求1至25中任一项所述的激光测距装置；
    所述成像系统用于根据目标物体在画面中的位置确定所述目标物体 相对所述成像系统的方位信息；
    所述激光测距装置用于根据所述方位信息调整所述激光测距装置的探测方向，并测量所述目标物体与激光测距装置之间的距离信息；
    所述成像系统还用于根据所述激光测距装置获取到的所述距离信息进行调焦。
  27. 如权利要求26所述的移动设备，其特征在于，所述测距装置还包括控制模块，所述控制模块接收所述方位信息，并依据所述方位信息控制所述驱动系统驱动所述光学模块移动至预定位置。
  28. 如权利要求27所述的移动设备，其特征在于，所述测距装置还包括位置反馈系统，所述位置反馈系统用于将移动后的光学模块的位置信息反馈至所述控制模块。
  29. 如权利要求28所述的移动设备，其特征在于，所述位置反馈系统包括至少一个位移传感器。
  30. 如权利要求29所述的移动设备，其特征在于，所述位移传感器包括霍尔传感器、光栅传感器或激光传感器。
  31. 如权利要求26所述的移动设备，其特征在于，所述移动设备包括相机、无人机、汽车或机器人。
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